CN117956002A - Unmanned line inspection device and method for power system based on high-flux satellite - Google Patents
Unmanned line inspection device and method for power system based on high-flux satellite Download PDFInfo
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Abstract
The invention discloses an unmanned line patrol device and method for an electric power system based on a high-flux satellite, wherein the device comprises an unmanned plane patrol terminal, a high-flux satellite system and a ground processing terminal; the unmanned aerial vehicle inspection terminal obtains an inspection instruction by using an on-board high-throughput satellite communication terminal; according to the inspection instruction, an image information acquisition module acquires field image information of the power system; the control processing module is embedded with an image recognition algorithm, the field image information is compared with preset standard image information, when the equipment is found to be damaged, the field image information is forwarded to a ground processing terminal by using a high-flux satellite system, and the field image information received by the high-flux satellite communication ground terminal is processed to obtain a fault report; therefore, the invention improves the information transmission speed by utilizing the high-flux satellite, improves the real-time performance of the state monitoring of the power system, improves the comprehensive maintenance efficiency, reduces the safety risk and saves the maintenance cost of enterprises.
Description
Technical Field
The invention relates to the technical field of satellite communication and power, in particular to an unmanned line patrol device and method for a power system based on a high-flux satellite.
Background
Because the power station is often located in remote areas, the traditional network coverage is insufficient, the facility monitoring and management of the power generation part are difficult, a plurality of power infrastructures are located in remote areas such as mountain areas, deserts and the like, communication base stations and optical fibers are difficult to cover due to the fact that the communication base stations and the optical fibers are limited by terrain, communication with the outside is difficult and high in cost, because the existing unmanned aerial vehicle relies on public networks or ad hoc networks with short communication distances, the communication distance of the unmanned aerial vehicle is a difficulty in realizing unmanned line patrol of a power system, manual line patrol is adopted for monitoring the line patrol state of the power system in the current complex environment, working conditions are difficult, safety risks are high, and the disadvantage that the problem of the power system is found untimely due to human factors is caused, the patrol efficiency is low, and the unmanned aerial vehicle is not suitable for development and safety requirements in the current development environment. The satellite communication has the characteristics of long communication distance and no need of ground facility support, so the satellite communication is a preferable communication mode for providing information transmission under the condition of complex terrain, but is limited by the conditions of limited weight of an unmanned aerial vehicle, difficult flight control and the like, and the satellite communication system terminal is difficult to perfectly fuse with an unmanned line inspection system.
Disclosure of Invention
The invention aims to solve the problem of providing a power system line inspection method and device which are not limited by infrastructure and can realize power system inspection in complex terrain environments.
In order to achieve the above purpose, a first aspect of the embodiment of the present invention discloses an unmanned line inspection device for a power system based on a high-flux satellite, wherein the device comprises an unmanned line inspection terminal, a high-flux satellite system and a ground processing terminal;
The unmanned aerial vehicle inspection terminal comprises an unmanned aerial vehicle body, an on-board control processing module, an on-board high-throughput satellite communication terminal and an image information acquisition module; the unmanned aerial vehicle inspection terminal inspects the electric power system according to the inspection instruction received by the on-board high-flux satellite communication terminal; the image information acquisition module is used for acquiring images; the on-board control processing module is used for controlling the unmanned aerial vehicle inspection terminal and processing acquired images and data; the on-board high-throughput satellite communication terminal is used for providing a data receiving and transmitting function for the unmanned aerial vehicle inspection terminal; the inspection instruction comprises an inspection track and an inspection mode; the power system comprises power generation equipment, power transmission equipment and electric equipment.
The ground processing terminal comprises an upper layer application system, a high-flux satellite communication ground terminal and a data storage and processing module; the upper layer application system is used for visualizing the state of the power system, reporting faults and controlling the unmanned aerial vehicle inspection mode according to a control command sent by user operation; the high-throughput satellite communication ground terminal is used for providing a data receiving and transmitting function for the ground processing terminal; the data storage and processing module is used for data storage and processing;
The high-flux satellite system is in bidirectional satellite communication connection with the on-board high-flux satellite communication terminal and the high-flux satellite communication ground terminal.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the on-board control processing module is embedded with an image recognition model; the image recognition model is utilized to recognize the image information acquired by the image information acquisition module, so that a recognition result is obtained; the identification result is normal or damaged.
Optionally, the image recognition model adopts a YOLO-based target detection algorithm; dividing an image into grids by the image recognition model, predicting a plurality of boundaries for each grid, predicting category probability and position information of each boundary, and finally recognizing a target fault position by using non-maximum suppression;
Based on preset standard image information, the image recognition model performs contrast recognition processing on the image information acquired by the image information acquisition module to obtain a recognition result.
As an optional implementation manner, the on-board high-throughput satellite communication terminal is provided with an antenna pointing correction module, and the antenna pointing correction module calculates and obtains the deviation of the orientation of electromagnetic waves and the pointing angle of the main beam of the antenna according to the received carrier wave information; and the antenna pointing correction module controls the antenna base to adjust according to the pointing angle deviation, so that the on-board high-flux satellite communication terminal is always aligned to a high-flux satellite.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the on-board high-throughput satellite communication terminal adopts a CDMA system, and the modulation mode is BPSK, so that simultaneous communication of different users on the same channel is achieved without interference; the scattered interference problem is reduced through small spread spectrum, the spread spectrum mode adopts direct sequence spread spectrum and frequency modulation spread spectrum mixed spread spectrum, the frequency spectrum of a signal is spread at a transmitting end through a pseudo-random sequence code, the carrier frequency is repeatedly switched in the radio transmission process, the satellite interference problem is reduced, and the multiple access communication is easy to realize;
the coding mode adopts LDPC, and the communication frequency band is Ka frequency band; the method has the characteristics of lower error floor, lower complexity and high throughput, has the capability of high-speed decoding, and can be beneficial to realizing the real-time monitoring of the power state based on a high-flux satellite system;
As an optional implementation mode, the unmanned aerial vehicle body provides power in the onboard high-flux satellite communication terminal, and a battery module is not arranged in the onboard high-flux satellite communication terminal, so that the purpose of reducing the weight of the onboard terminal is achieved.
The size of the on-board high-flux satellite communication terminal is not more than 240 x 180 x 40mm, the peak power consumption is not more than 150W, a 12V direct current stabilized power supply is adopted, the transmitting frequency range is 28.7-20.2GHz, the receiving frequency range is 29.46-30GHz, and the maximum information transmission rate is not less than 10Mbps.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the minimum working temperature of the unmanned aerial vehicle inspection terminal is not higher than-40 ℃, the maximum working temperature is not lower than 55 ℃, the weight of the whole machine is not higher than 2 kg, and the maximum endurance mileage is not less than 50 km.
In an optional implementation manner, in the first aspect of the embodiment of the present invention, the navigation mode of the unmanned aerial vehicle inspection terminal is GPS navigation and/or beidou navigation.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the high-flux satellite communication ground terminal includes an antenna unit, a radio frequency unit, and a ka band switch matrix that are sequentially connected in a circuit manner;
The antenna unit is used for transmitting electromagnetic signals of the radio frequency unit according to a specified direction and a preset gain and receiving electromagnetic signals from a high-flux satellite communication system;
The radio frequency unit is used for converting information to be transmitted into electromagnetic signals, transmitting the electromagnetic signals to the antenna through the feeder line, combining satellite signals received by the antenna and transmitting the satellite signals to the corresponding module for processing;
The ka-band switch matrix is used for guiding radio frequency signals to different radio frequency units or filters according to a preset rule and separating and processing multiple paths of signals according to the received signal bandwidth;
The satellite communication control unit is used for receiving the electromagnetic signals from the ka-band switch matrix, processing the electromagnetic signals into digital signals and transmitting the digital signals to the data storage and processing module, and simultaneously converting the digital signals into the electromagnetic signals and transmitting the electromagnetic signals to the ka-band switch matrix.
In an optional implementation manner, in a first aspect of the embodiment of the present invention, the high-flux satellite system is connected to the on-board high-flux satellite communication terminal and the high-flux satellite communication ground terminal through a satellite-to-ground link, a communication frequency band is a Ka frequency band, and an inter-satellite link communication frequency band of the high-flux satellite system is the Ka frequency band.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, a maximum data uploading rate of the on-board high-throughput satellite communication terminal and a maximum data downloading rate of the high-throughput satellite communication ground terminal are 150Mbps and 12Mbps.
As an optional implementation manner, in the first aspect of the embodiment of the present invention, the unmanned aerial vehicle body is provided with a laser obstacle avoidance radar, and surrounding environment data is acquired in real time, so as to achieve the purpose of obstacle avoidance for the unmanned aerial vehicle body.
The second aspect of the embodiment of the invention discloses an unmanned line patrol method of a power system based on a high-flux satellite, which is applied to the unmanned line patrol device of the power system based on the high-flux satellite disclosed in the first aspect of the embodiment of the invention, and comprises the following steps:
S1, an unmanned aerial vehicle inspection terminal acquires an inspection instruction by using an onboard high-throughput satellite communication terminal; the inspection instruction comprises an inspection track and an inspection mode;
S2, according to the inspection instruction, the unmanned aerial vehicle inspection terminal acquires field image information of the power system by using an image information acquisition module; the power system comprises power generation equipment, power transmission equipment and electric equipment; the image information comprises pictures and/or videos;
s3, the unmanned aerial vehicle inspection terminal performs comparison and identification processing on the field image information and preset standard image information by using an image identification algorithm embedded in the control processing module to obtain an identification result; the identification result is normal or damaged;
If the identification result is normal, executing the step S2;
if the identification result is damaged, executing step S4;
s4, the unmanned aerial vehicle inspection terminal sends the field image information to a high-flux satellite system by using an on-board high-flux satellite communication terminal;
s5, the high-flux satellite system forwards the field image information to a high-flux satellite communication ground terminal;
s6, the ground processing terminal processes the field image information received by the high-flux satellite communication ground terminal to obtain a fault report.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
The invention discloses an unmanned line inspection method and device for an electric power system based on a high-flux satellite, which are applied to the inspection of power grid equipment. When the unmanned aerial vehicle inspection terminal works, the image and video data of the power equipment can be collected according to the control instruction, and damaged equipment data is transmitted to the ground data processing terminal through the satellite communication terminal and the high-flux satellite system according to the identification algorithm. After the data is processed and analyzed, the data is sent to an upper layer application and visualization is realized. Through actual tests, the whole information transmission flow is completed within 0.3s by using the technical scheme provided by the invention, and the real-time performance of power system state monitoring is greatly improved. Therefore, the unmanned line inspection device and method for the power system based on the high-flux satellite, provided by the invention, adopt the unmanned plane based on the high-flux satellite for inspection, can break through the limit on a ground communication system, adapt to the line inspection of the power system in a complex terrain and long-distance area, have the characteristics of high efficiency and timely fault reporting, and can customize the inspection route and inspection period according to the requirements.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned line patrol device of an electric power system based on a high-flux satellite according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a ground data processing terminal according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a ground data processing terminal according to another embodiment of the present invention;
fig. 4 is a schematic flow chart of an unmanned line inspection method of an electric power system based on a high-flux satellite according to an embodiment of the invention.
Reference numerals and description:
100-unmanned aerial vehicle inspection terminal, 200-high flux satellite system, 300-ground processing terminal, 400-electric power system, 101-unmanned aerial vehicle body, 102-on-board high flux satellite communication terminal, 301-upper layer application system, 302-high flux satellite communication ground terminal, 303-data storage and processing module, 3021-antenna unit, 3022-radio frequency unit, 3023-ka wave band switch matrix, 3024-satellite communication control unit.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Please refer to fig. 1. Fig. 1 is a schematic structural diagram of an unmanned line patrol device of an electric power system based on a high-flux satellite according to an embodiment of the present invention;
The embodiment of the invention discloses an unmanned line inspection device of an electric power system based on a high-flux satellite, which comprises an unmanned line inspection terminal 100, a high-flux satellite system 200 and a ground processing terminal 300;
The unmanned aerial vehicle inspection terminal 100 comprises an unmanned aerial vehicle body 101, an on-board control processing module (not shown in the figure), an on-board high-throughput satellite communication terminal 102 and an image information acquisition module (not shown in the figure); the unmanned aerial vehicle inspection terminal 100 inspects the power system 400 according to the inspection instruction received by the on-board high-throughput satellite communication terminal 102; the power system 400 includes power generation equipment, electrical equipment, power transmission equipment, and the like.
The image information acquisition module is used for acquiring images; the on-board control processing module is used for controlling the unmanned aerial vehicle inspection terminal 100 and processing the acquired images and data; the onboard high-throughput satellite communication terminal 102 is configured to provide a data transceiving function for the unmanned aerial vehicle inspection terminal 100; the inspection instruction comprises an inspection track and an inspection mode; the power system 400 includes a power generation device, a power transmission device, and a power consumer.
The ground processing terminal 300 comprises an upper layer application system 301, a high throughput satellite communication ground terminal 302 and a data storage and processing module 303; the upper layer application system 301 is used for visualizing the power system state and reporting faults, and controlling the unmanned aerial vehicle inspection mode according to the control command sent by the user operation; the high-throughput satellite communication ground terminal 302 is configured to provide a data transceiving function for the ground processing terminal 300; the data storage and processing module 303 is used for data storage and processing;
the high-throughput satellite system 200 is connected in two-way satellite communication with the onboard high-throughput satellite communication terminal 102 and the high-throughput satellite communication ground terminal 302.
It can be seen that, by implementing the unmanned line inspection device for the power system based on the high-flux satellite described in this embodiment, the ground processing terminal 300 generates an inspection task, and realizes remote communication with the unmanned plane inspection terminal 100 by using the high-flux satellite system 200, and the unmanned plane inspection terminal 100 realizes real-time acquisition and processing of the physical image of the power system 400 by using the on-board control processing module, the on-board high-flux satellite communication terminal 102 and the image information acquisition module, and when a problem occurs, sends a field picture to the ground processing terminal 300, thereby realizing unmanned inspection of the power system in a complex terrain environment.
In another optional embodiment, the on-board control processing module is embedded with an image recognition model; the image information acquired by the image information acquisition module is identified by utilizing the image identification model, so that an identification result is obtained; the identification result is normal or damaged.
Optionally, the image recognition model adopts a YOLO-based target detection algorithm; dividing an image into grids by the image recognition model, predicting a plurality of boundaries for each grid, predicting category probability and position information of each boundary, and finally recognizing a target fault position by using non-maximum suppression;
Based on preset standard image information, the image recognition model performs contrast recognition processing on the image information acquired by the image information acquisition module to obtain a recognition result.
As can be seen, the unmanned line inspection device of the high-flux satellite-based power system described in this embodiment is implemented, the image recognition model embedded by the onboard control processing module is used to compare and recognize the collected field image information with the preset standard image information, so as to obtain a recognition result, and when the recognition result is in a damaged state, the damaged state is reported to the ground processing terminal 300 through the high-flux satellite system 200.
In yet another alternative embodiment, the on-board high-throughput satellite communication terminal 102 adopts a CDMA system, and the modulation mode is BPSK, so that different users can communicate simultaneously on the same channel without interference; the scattered interference problem is reduced through small spread spectrum, the spread spectrum mode adopts direct sequence spread spectrum and frequency modulation spread spectrum mixed spread spectrum, the frequency spectrum of a signal is spread at a transmitting end through a pseudo-random sequence code, the carrier frequency is repeatedly switched in the radio transmission process, the satellite interference problem is reduced, and the multiple access communication is easy to realize; the coding mode adopts LDPC, the communication frequency band is Ka frequency band, the error floor characteristic is lower, the complexity is lower, the throughput is high, the high-speed decoding capability is realized, and the real-time monitoring of the power state based on a high-flux satellite system can be realized.
Therefore, the unmanned line inspection device of the power system based on the high-flux satellite, which is described in the embodiment, can effectively reduce the problem of sporadic interference, provide high throughput and improve the robustness of the unmanned line inspection device of the power system based on the high-flux satellite.
In yet another alternative embodiment, the on-board high-throughput satellite communication terminal 102 is provided with an antenna pointing correction module (not shown in the figure), and the antenna pointing correction module calculates, according to the received carrier information, a pointing angle deviation between the electromagnetic wave orientation and the main beam of the antenna; the antenna pointing correction module controls the antenna base to adjust according to the pointing angle deviation, so that the high-flux satellite antenna of the on-board high-flux satellite communication terminal 102 always aims at the high-flux satellite;
Therefore, the unmanned line patrol device of the electric power system based on the high-flux satellite, which is described in the embodiment, is implemented, the antenna pointing correction module is utilized to realize automatic tracking of the satellite, the satellite can be quickly and automatically pointed and tracked, and a bidirectional communication link with the high-flux satellite system is established.
In yet another alternative embodiment, the onboard high-throughput satellite communication terminal 102 is bolted to the drone body 101.
In yet another alternative embodiment, the on-board high-throughput satellite communication terminal 102 is not provided with a battery module, and is powered by an unmanned power supply, so that the weight of the on-board terminal is reduced;
In yet another alternative embodiment, the on-board high-flux satellite communication terminal 102 adopts a patch heat dissipation mode, and the patch size is 40mm by 30mm by 10mm, and the patches are respectively attached to the front and back sides of the PCB board of the on-board high-flux satellite communication terminal 102; compared with a water-cooling air-cooling mode, the patch heat dissipation mode is adopted, so that the power consumption is low, the weight is light, and the purposes of reducing the power consumption and the weight are achieved.
In yet another alternative embodiment, the on-board high-throughput satellite communication terminal 102 is provided with a power consumption detection module, and when the power consumption detection module detects that the overall power consumption of the terminal is higher, for example, the power consumption is increased due to more data to be processed and transmitted, the on-board control processing module reduces the resolution of the processed partial pictures and videos, so as to achieve the purpose of reducing the power consumption; the power consumption detection module controls the peak power consumption of the on-board high-throughput satellite communication terminal 102 to be less than 150W.
In yet another alternative embodiment, the high-throughput satellite antenna is an integrated phased array antenna having 16 antenna subunits, wherein the microstrip antenna employs a circular patch antenna for the purposes of size reduction and cost reduction; each antenna subunit is digitally controlled by adopting a DSP chip, the volume of the device is reduced, the size of the adopted phased array antenna is smaller than 40mm, 40mm and 4mm, and the size of a terminal PCB is about 180mm, 80mm and 4mm; the transmitting frequency ranges from 28.7 GHz to 20.2GHz, the receiving frequency ranges from 29.46 GHz to 30GHz, and the maximum information transmission rate is not less than 10Mbps.
Through the above miniaturization process, the size of the onboard high-flux satellite communication terminal 102 is not more than 240mm by 180mm by 40mm, and the peak power consumption is not more than 150W.
In yet another alternative embodiment, the minimum working temperature of the unmanned aerial vehicle inspection terminal 100 is not higher than-40 ℃, the maximum working temperature is not lower than 55 ℃, the weight of the whole machine is not higher than 2 kg, and the maximum endurance mileage is not lower than 50 km, so as to meet the complex environmental conditions and prolong the working time.
In yet another alternative embodiment, the navigation mode of the unmanned aerial vehicle inspection terminal 100 is GPS navigation, and/or beidou navigation.
Optionally, the unmanned aerial vehicle inspection terminal 100 adopts a combined navigation mode of a GPS and a Beidou, so that the situation that a GPS navigation system or the Beidou navigation system cannot locate under a specific condition is prevented, and the cruising reliability of the unmanned aerial vehicle inspection terminal 100 is improved.
Therefore, the unmanned line patrol device of the power system based on the high-flux satellite, which is described in the embodiment, can quickly capture the satellite; through miniaturized processing, reach integrated level height, light in weight and energy consumption low purpose, realize unmanned aerial vehicle and patrol and examine the terminal and add on-board high flux satellite communication terminal, expanded unmanned aerial vehicle and patrol the scope of the device.
In yet another alternative embodiment, the data storage and processing module 303 processes the received data, adopts efficient data processing algorithms and techniques to clean and integrate the data, has storage and processing capabilities, provides power system status data to upper applications, realizes visualization of the entire power grid, extracts valuable information and indicators, diagnoses power system faults, and provides support for power resource management and decision making. The storage capacity of the data storage and processing module 303 should be configured according to practical needs, and the data storage and processing module 303 needs to store a large amount of photo videos, for example, about 200TB of data generated by 1 hour of 1 month of inspection of 1000 unmanned aerial vehicles, and at least 400TB of data of the two month power system 400 is needed to be stored.
In yet another alternative embodiment, referring to fig. 2, fig. 2 is a schematic structural diagram of a high-throughput satellite communication ground terminal according to an embodiment of the present invention. As shown in fig. 2, the high-throughput satellite communication ground terminal 302 includes an antenna unit 3021, a radio frequency unit 3022, a ka band switch matrix 3023, and a satellite communication control unit 3024 that are sequentially connected in circuit.
The antenna unit 3021 is configured to transmit electromagnetic signals of the radio frequency unit 3022 according to a specified direction and a preset gain, and receive electromagnetic signals from a high-throughput satellite communication system. The radio frequency unit 3022 is configured to convert information to be sent into electromagnetic signals, and then transmit the electromagnetic signals to an antenna through a feeder line, and combine satellite signals received by the antenna and transmit the satellite signals to a corresponding module for processing. The ka-band switch matrix 3023 is configured to direct the radio frequency signals to different radio frequency units 3022 or filters according to a preset rule according to the bandwidth of the received signals, and separately process the multiple signals. The satellite communication control unit 3024 is configured to receive the electromagnetic signal from the ka-band switch matrix 3023, process the electromagnetic signal into a digital signal, transmit the digital signal to the data storage and processing module 303, and simultaneously convert the digital signal into the electromagnetic signal and transmit the electromagnetic signal to the ka-band switch matrix 3023.
In yet another alternative embodiment, referring to fig. 3, fig. 3 is a schematic structural diagram of yet another high-throughput satellite communication ground terminal according to an embodiment of the present invention. As shown in fig. 3, the radio frequency unit 3022 includes a first beam radio frequency unit and a second beam radio frequency unit;
The satellite communication control unit 3024 includes a network subsystem, a first beam control unit, a second beam control unit, and a service resource control unit.
In yet another alternative embodiment, the graphics card of the above ground data processing terminal uses 20 NVID IA RTX A6000 to improve the processing capability of the terminal on the image and video, and renders the state diagram of the power system 400 in real time, where the maximum power consumption is about 20×300w, and the processor is five dual-core intel 8280, and the power consumption is about 10×200w; in order to increase the heat dissipation effect, the water-cooling air-cooling hybrid heat dissipation system is arranged in the ground data processing terminal, so that the temperature in the operation time of the terminal is effectively reduced.
The ground data processing terminal has the power consumption of not more than 15KW, the storage capacity of 500TB, the volume of 200cm x 100cm x 250cm and the weight of about 150 kg, and the operating system of the processing terminal is Ubuntu. The terminal has higher processing capacity and storage capacity, and the processed information is sent to an upper layer application, so that the state of the power system is conveniently monitored; or receiving an instruction sent by an upper layer application, encrypting and modulating the instruction, sending the instruction to a high-flux satellite, and finally sending the instruction to the unmanned aerial vehicle inspection terminal 100 terminal to control the inspection mode. The upper layer application can visually display the power grid state according to the data analyzed by the terminal, monitor each part of the power system and control the unmanned aerial vehicle inspection terminal 100 to perform appointed operation.
In yet another alternative embodiment, the high-throughput satellite system 200 is connected to the on-board high-throughput satellite communication terminal 102 and the high-throughput satellite communication ground terminal 302 through a satellite-to-ground link, where the communication frequency band is the Ka frequency band, and the inter-satellite link communication frequency band of the high-throughput satellite system 200 is the Ka frequency band.
In yet another alternative embodiment, the highest data upload maximum rate of the on-board high-throughput satellite communication terminal 102, the high-throughput satellite communication ground terminal 302 is 150Mbps and the highest data download maximum rate is 12Mbps.
As can be seen, in the high-flux satellite-based power system unmanned line inspection device described in this embodiment, the unmanned plane inspection terminal 100 transmits inspection data to the satellite communication system through the satellite-to-ground link, and transmits the inspection data to the ground data processing terminal through satellite forwarding. The high-throughput satellite communication system has high-speed and stable data transmission capability, and the service area can cover a remote area where the electric power facilities are located. Through satellite system transmission, the power system data can be rapidly transmitted to the ground data processing terminal, so that low-cost, efficient and real-time state monitoring of the power system is realized.
In yet another optional embodiment, a plurality of laser obstacle avoidance radars are disposed in the unmanned aerial vehicle body 101 in six directions, namely front, back, left, right, up, down, for acquiring surrounding environment data in real time, and determining obstacle conditions around the unmanned aerial vehicle body 101; according to the shielding condition around the detected unmanned aerial vehicle body 101, the unmanned aerial vehicle body 101 is controlled to select a space with fewer shielding objects around to carry out the inspection of the power system 400, and the condition of poor communication quality caused by shielding is reduced.
Example two
Referring to fig. 4, fig. 4 is a schematic flow chart of an unmanned line inspection method of a power system based on a high-flux satellite according to an embodiment of the invention. As shown in fig. 4, the method may include:
s1, an unmanned aerial vehicle inspection terminal 100 acquires an inspection instruction by using an on-board high-throughput satellite communication terminal 102; the inspection instruction comprises an inspection track and an inspection mode;
S2, according to the inspection instruction, the unmanned aerial vehicle inspection terminal 100 acquires field image information of the power system 400 by using an image information acquisition module; the power system 400 comprises power generation equipment, power transmission equipment and electric equipment; the image information comprises pictures and/or videos;
S3, the unmanned aerial vehicle inspection terminal 100 performs contrast identification processing on the field image information and preset standard image information by utilizing an image identification algorithm embedded in a control processing module to obtain an identification result; the identification result is normal or damaged;
If the identification result is normal, executing the step S2;
if the identification result is damaged, executing step S4;
S4, the unmanned aerial vehicle inspection terminal 100 sends the field image information to the high-flux satellite system 200 by using the on-board high-flux satellite communication terminal 102;
S5, the high-flux satellite system 200 forwards the field image information to the high-flux satellite communication ground terminal 302;
s6, the ground processing terminal 300 processes the field image information received by the high-flux satellite communication ground terminal 302 to obtain a fault report.
As can be seen, in the high-flux satellite-based unmanned line inspection method for the electric power system described in this embodiment, the unmanned plane inspection terminal 100 collects field image information, and identifies the field image information and standard image information through an image identification algorithm, so as to obtain an identification result; once the identification result is abnormal, the high-flux satellite system 200 is utilized to transmit the on-site image information to the ground data processing terminal, so that the monitoring of the running state of the equipment can be monitored in real time, and the fault position and related information can be found and reported in time through the processing of the data, so that the maintenance and the processing can be carried out, and the normal operation of the electric power facilities can be ensured.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "manner," "particular modes," or "some modes," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or mode is included in at least one embodiment or mode of the embodiments of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or manner. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or ways. Furthermore, various embodiments or modes and features of various embodiments or modes described in this specification can be combined and combined by those skilled in the art without mutual conflict.
Finally, it should be noted that: the embodiment of the invention discloses an unmanned line patrol device and method for a power system based on a high-flux satellite, which are disclosed by the embodiment of the invention and are only used for illustrating the technical scheme of the invention, but not limiting the technical scheme; although the invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that; the technical scheme recorded in the various embodiments can be modified or part of technical features in the technical scheme can be replaced equivalently; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (10)
1. An unmanned line inspection device of an electric power system based on a high-flux satellite is characterized by comprising an unmanned line inspection terminal (100), a high-flux satellite system (200) and a ground processing terminal (300);
The unmanned aerial vehicle inspection terminal (100) comprises an unmanned aerial vehicle body (101), an onboard control processing module, an onboard high-throughput satellite communication terminal (102) and an image information acquisition module; the unmanned aerial vehicle inspection terminal (100) inspects the power system (400) according to the inspection instruction received by the on-board high-flux satellite communication terminal (102); the image information acquisition module is used for acquiring images; the on-board control processing module is used for controlling the unmanned aerial vehicle inspection terminal (100) and processing acquired images and data; the on-board high-throughput satellite communication terminal (102) is used for providing a data receiving and transmitting function for the unmanned aerial vehicle inspection terminal (100);
The ground processing terminal (300) comprises an upper layer application system (301), a high-flux satellite communication ground terminal (302) and a data storage and processing module (303); the upper layer application system (301) is used for visualizing the state of the power system, reporting faults and controlling the unmanned aerial vehicle inspection mode according to a control command sent by user operation; the high throughput satellite communication ground terminal (302) is configured to provide data transceiving functionality for the ground processing terminal (300); the data storage and processing module (303) is used for data storage and processing;
The high-throughput satellite system (200) is connected with the on-board high-throughput satellite communication terminal (102) and the high-throughput satellite communication ground terminal (302) in a two-way satellite communication manner.
2. The high-throughput satellite-based power system unmanned line patrol device of claim 1, wherein the onboard control processing module is embedded with an image recognition model; the image recognition model is used for recognizing the image information acquired by the image information acquisition module to obtain a recognition result.
3. The unmanned line patrol device for the high-flux satellite-based power system according to claim 1, wherein the onboard high-flux satellite communication terminal (102) is provided with an antenna pointing correction module, and the antenna pointing correction module calculates and obtains the pointing angle deviation of the electromagnetic wave orientation and the antenna main beam according to the received carrier wave information; the antenna pointing correction module controls an antenna base to adjust according to the pointing angle deviation, so that the on-board high-flux satellite communication terminal (102) is always aligned to a high-flux satellite; the on-board high-throughput satellite communication terminal (102) adopts a CDMA system, the modulation mode is BPSK, and the coding mode adopts a low-density parity check code; and a power supply is provided by the unmanned aerial vehicle body (101) in the onboard high-flux satellite communication terminal (102).
4. The high-throughput satellite-based power system unmanned line patrol apparatus according to claim 1, wherein the high-throughput satellite communication ground terminal (302) comprises an antenna unit (3021), a radio frequency unit (3022), a ka-band switch matrix (3023) and a satellite communication control unit (3024) which are sequentially circuit-connected;
the antenna unit (3021) is configured to transmit an electromagnetic signal of the radio frequency unit (3022) according to a specified direction and a preset gain, and receive the electromagnetic signal from a high-throughput satellite communication system;
the radio frequency unit (3022) is used for converting information to be sent into electromagnetic signals, transmitting the electromagnetic signals to the antenna through the feeder line, combining satellite signals received by the antenna and transmitting the satellite signals to the corresponding module for processing;
The ka-band switch matrix (3023) is used for guiding radio frequency signals to different radio frequency units (3022) or filters according to a preset rule according to the received signal bandwidth, and dividing and processing multiple paths of signals;
The satellite communication control unit (3024) is configured to receive electromagnetic signals from the ka-band switch matrix (3023), process the electromagnetic signals into digital signals, transmit the digital signals to the data storage and processing module (303), convert the digital signals into electromagnetic signals, and transmit the electromagnetic signals to the ka-band switch matrix (3023).
5. The unmanned aerial vehicle inspection terminal (100) based on the high-throughput satellite according to claim 1, wherein the minimum working temperature is not higher than-40 ℃, the maximum working temperature is not lower than 55 ℃, the weight of the whole machine is not higher than 2 kg, and the maximum endurance mileage is not lower than 50 km.
6. The high-throughput satellite-based power system unmanned aerial vehicle line patrol device according to claim 1, wherein the navigation mode of the unmanned aerial vehicle line patrol terminal (100) is GPS navigation and/or beidou navigation.
7. The high-throughput satellite-based power system unmanned line patrol device according to claim 1, wherein the high-throughput satellite system (200) is connected with the on-board high-throughput satellite communication terminal (102) and the high-throughput satellite communication ground terminal (302) through a satellite-ground link, the communication frequency band is a Ka frequency band, and the inter-satellite link communication frequency band of the high-throughput satellite system (200) is a Ka frequency band.
8. The high-throughput satellite-based power system unmanned line patrol apparatus of claim 1, wherein the highest data upload maximum rate of the on-board high-throughput satellite communication terminal (102), the high-throughput satellite communication ground terminal (302) is 150Mbps and the highest data download maximum rate is 12Mbps.
9. The high-throughput satellite-based power system unmanned aerial vehicle device of claim 1, wherein the unmanned aerial vehicle body (101) is provided with a laser obstacle avoidance radar.
10. An unmanned line patrol method for a high-flux satellite-based power system, which is applied to the unmanned line patrol device for a high-flux satellite-based power system according to any one of claims 1 to 9, the method comprising:
s1, an unmanned aerial vehicle inspection terminal (100) acquires an inspection instruction by using an on-board high-flux satellite communication terminal (102); the inspection instruction comprises an inspection track and an inspection mode;
s2, according to the inspection instruction, the unmanned aerial vehicle inspection terminal (100) acquires field image information of the power system (400) by using an image information acquisition module; the image information comprises pictures and/or videos;
S3, the unmanned aerial vehicle inspection terminal (100) performs contrast identification processing on the field image information and preset standard image information by using an image identification model embedded in a control processing module to obtain an identification result; the identification result is normal or damaged;
If the identification result is normal, executing the step S2;
if the identification result is damaged, executing step S4;
S4, the unmanned aerial vehicle inspection terminal (100) sends the field image information to a high-flux satellite system (200) by using an onboard high-flux satellite communication terminal (102);
S5, the high-flux satellite system (200) forwards the field image information to a high-flux satellite communication ground terminal (302);
And S6, the ground processing terminal (300) processes the field image information received by the high-flux satellite communication ground terminal (302) to obtain a fault report.
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